Pipeline Sensor System and Method

ABSTRACT

A sensor system and method for sensing conditions of a pipeline is disclosed. The system includes a plurality of sensors that sense a condition of the pipeline, generate a signal indicative of the condition, and communicate the signal. A pipeline device navigates the pipeline receives the signal, stores a value corresponding to the condition, and selectively communicates value.

FIELD

The present disclosure relates to collecting sensed characteristics ofpipeline.

BACKGROUND

This section provides background information related to the presentdisclosure which is not necessarily prior art.

Pipelines carry various fluids or gasses to dispersed geographicallocations. In order to reach the geographical locations, the pipelinesmay be forced to follow natural landscapes that render segments of thepipelines unavailable and/or inconvenient for inspection andmaintenance. For example, a pipeline may have to be buried undergroundor under a body of water in order to traverse the natural landscapebefore reaching a specified geographical location.

Over time, the pipelines may deteriorate or become inefficient andexhibit defects due to corrosion or natural phenomena which can resultunder normal operating conditions. Consequently, the flow and pressurewithin the pipelines may change as a result of a defect in thepipelines. In order to ensure the pipelines maintain structural andoperational integrity, technicians regularly inspect the pipelines.Accordingly, systems and methods capable of navigating and inspectingthe pipelines are desirable.

SUMMARY

This section provides a general summary of the disclosure, and is not acomprehensive disclosure of its full scope or all of its features.

In one aspect of the present disclosure a sensor system for sensingconditions of a pipeline is disclosed as including a plurality ofsensors that sense at least one condition of the pipeline, generate atleast one signal indicative of a value corresponding to the at least onecondition, and wirelessly communicates the at least one signal. Alsoincluded as part of the sensor system is a pipeline device configured tonavigate the pipeline that receives the at least one signal, stores thevalue corresponding to the at least one condition in an associatedmemory, and selectively communicates the stored values in response toreceiving a request to communicate the stored values.

In further aspects of the present disclosure, the sensor system includesa sensor data module that generates a values database and acommunication module that receives values stored in the values databaseand that selectively communicates the values. The sensor data moduledetermines whether the value corresponding to the at least one conditionis greater than a predetermined threshold value and communicates thevalue to the communication module when the value is greater than thepredetermined threshold value. The communication module communicates thevalue to a remotely located computing device.

Still further, the present disclosure provides a method for sensingconditions of a pipeline including sensing at least one condition of thepipeline, generating at least one signal indicative of a valuecorresponding to the at least one condition, wirelessly communicatingthe at least one signal, navigating the pipeline, receiving the at leastone signal, storing the value corresponding to the at least onecondition, and selectively communicating the stored values in responseto receiving a request to communicate the stored values. In addition,the method can include generating a values database, determining whetherthe value corresponding to the at least one condition is greater than apredetermined threshold value, and selectively communicating the valuesfrom the values database such as when the value is greater than thepredetermined threshold value.

Further areas of applicability will become apparent from the descriptionprovided herein. The description and specific examples in this summaryare intended for purposes of illustration only and are not intended tolimit the scope of the present disclosure.

DRAWINGS

The drawings described herein are for illustrative purposes only ofselected embodiments and not all possible implementations, and are notintended to limit the scope of the present disclosure.

FIG. 1 is a functional block diagram of an exemplary wireless sensordevice according to the principles of the present disclosure;

FIG. 2 is a functional block diagram of an alternative exemplarywireless sensor device according to the principles of the presentdisclosure;

FIG. 3 is an exemplary pipeline system including the wireless sensordevice according to the principles of the present disclosure;

FIG. 4 is a flow diagram illustrating a pipeline characteristic sensingmethod according to the principles of the present disclosure; and

FIG. 5 is a functional block diagram of a pipeline characteristicsensing system according to the principles of the present disclosure.

Corresponding reference numerals indicate corresponding parts throughoutthe several views of the drawings.

DETAILED DESCRIPTION

Example embodiments will now be described more fully with reference tothe accompanying drawings.

With particular reference to FIG. 1, a wireless sensor device 10 isshown. The wireless sensor device 10 is arranged to traverse a pipelinenetwork. For example, the wireless sensor device 10 may traverse asegment of a gas pipeline network that is unavailable for conventionalpipeline inspection devices. The wireless sensor device 10 is arrangedto enter the gas pipeline network at a starting point. The wirelesssensor device 10 is carried through the gas pipeline network by gaspressure and/or flow within the pipeline and exits the gas pipelinenetwork at an end point.

The wireless sensor device 10 may also include features as described inissued U.S. Pat. No. 7,526,944 B2, filed Jan. 6, 2005, titled RemoteMonitoring of Pipelines Using Wireless Sensor Network, issued U.S. Pat.No. 7,841,249 B2, filed Jul. 9, 2007, titled Fluidized Sensor forMapping a Pipeline and patent application U.S. App. No. U.S.2007/0210929 A1, filed Mar. 7, 2006, titled Mapping and Detection ofPipelines Using Low Power Wireless Sensor Network. The entiredisclosures of the above issued patents and patent application areincorporated herein by reference.

The wireless sensor device 10 includes a case 14. The case 14 isarranged to enclose internal components of the wireless sensor device10. The case 14 may also be arranged to couple a plurality of externalcomponents to the wireless sensor device 10. For example, the case 14couples at least one external wireless sensor to the wireless sensordevice 10. In some implementations, the case 14 is configured to bespherical. For example, the case 14 is arranged to form a sphere thatsurrounds the internal components of the wireless sensor device 10. Thespherical nature of the case 14 allows the wireless sensor device 10 totraverse the gas pipeline by rolling through the gas pipeline. It isunderstood that while only a sphere is described, the case 14 may be anysuitable shape for traversing the pipeline.

The wireless sensor device 10 also includes a power supply 18, a sensordata module 22, and a communication module 26. The power supply 18 isarranged to supply electric power to various components of the wirelesssensor device 10. For example, the power supply 18 is electricallycoupled to the sensor data module 22 and the communication module 26.The power supply 18 supplies electric power to the sensor data module 22and the communication module 26. It is understood the power supply 18may be a battery. The battery may be comprised of a plurality of cellsarranged to supply electric power to the various components of thewireless sensor device 10.

The plurality of cells may be rechargeable. For example, the battery isarranged to receive electric power from an external power supply. Thebattery stores the electric power. The battery then selectivelydischarges the stored electric power based on a predetermined dischargeplan. Alternatively, the battery may discharge the stored electric powerbased on a command from various components of the wireless sensor device10.

In another implementation, the power supply 18 may supply power tocomponents external to the wireless sensor device 10. For example, insome implementations, the wireless sensor device 10 includes a pluralityof external sensors. The power supply 18 is electrically coupled to theplurality of external sensors via at least one cable. The power supply18 supplies electric power to the plurality of external sensors.Further, the plurality of external sensors may transmit sensed data overthe at least one cable to the sensor data module 22.

The sensor data module 22 receives sensed data from a plurality ofsensors. The plurality of sensors may be arranged within the wirelesssensor device 10. Alternatively, the plurality of sensors may beexternal to the wireless sensor device 10. For example, the wirelesssensor device 10 includes sensors 32A-32D as shown in FIG. 2. Thesensors 32A-32D may be referred to as sensor 32. Each of the sensors32A-32D are arranged to sense an environmental or positionalcharacteristic of the wireless sensor device 10. For example, sensor 32Amay be configured to sense moisture in an area proximal to the wirelesssensor device 10. Further, the sensor 32D may be configured to sense anambient temperature surrounding the wireless sensor device 10.

In some implementations, one of the sensors 32A-32D may sense a motionof the wireless sensor device 10, global position system (GPS)coordinates of the wireless sensor device 10, and an air pressuresurrounding the wireless sensor device 10. It is understood that thesensor 32 may be any suitable sensor and may be arranged to sense anycharacteristic related to the wireless sensor device 10 or an areaproximal to the wireless sensor device 10.

Each of the sensors 32A-32D are arranged to generate a signal indicativeof a sensed condition. For example, the sensor 32A may be a moisturesensor. The sensor 32A is configured to sense an amount of moisture inan area proximal to the wireless sensor device 10. The sensor 32Agenerates a moisture signal indicative of the sensed moisture. In someimplementations, the sensor 32A senses an amount of moisture present ina gas flowing through the gas pipeline network. The sensor 32A generatesa moisture signal indicative of the amount of moisture.

The sensor 32A then communicates the moisture signal to the sensor datamodule 22. It is understood that while only a moisture signal isdescribed, the sensors 32A-32D may generate signals indicative of anysensed characteristics and communicate the generated signals to thesensor data module 22. Further, while only sensors 32A-32D aredescribed, the wireless sensor device 10 may include sensors in additionto the sensors 32A-32D. Similarly, the wireless sensor device 10 mayinclude fewer sensors than the sensors 32A-32D.

In another implementation, the sensors 32A-32D communicate with thesensor data module 22 via a wireless communication link. For example,each of the sensors 32A-32D include a wireless communication circuit.The wireless communication circuit is configured to communicate over awireless link to the sensor data module 22 within the sensor device 10.The wireless communication circuit may communicate via a Bluetooth,RFID, or any other suitable near field or short range RF communicationlink. In some implementations, the sensors 32A-32D are radio frequencyidentification (RFID) tags. For example, the sensors 32A-32D areconfigured as a wireless non-contact device. The sensors 32A-32D useradio frequency electromagnetic fields to communicate the sensedconditions to the sensor data module 22.

The sensor data module 22 is configured to wirelessly receive aplurality of sensor signals from the sensors 32A-32D. For example, thesensor data module 22 may be an RFID reader. The sensor data module 22is configured to communicate with a plurality of RFID tags, for example,the sensors 32A-32D. The sensor data module 22 stores the receivedplurality of sensor signals in an associated memory within the sensordata module 22.

In another implementation, the sensor data module 22 receives aplurality of sensor signals from a plurality of remotely located sensors36A-36D as shown in FIG. 3. FIG. 3 depicts a functional block diagram ofan exemplary gas pipeline system 300. The gas pipeline system 300includes a pipeline 204. The pipeline 204 may include segments that areunable to be reached by conventional inspection devices, such as apipeline inspection gauge. For example, large segments of the pipeline204 are buried underground. Periodically, the pipeline 204 is inspectedto ensure the structural and operational integrity of the pipeline 204is above a predetermined threshold. An inspection gauge may be utilizedto traverse and inspect the pipeline 204. The buried segments are oftendifficult for the inspection gauge to access. Accordingly, the wirelesssensor device 10 may traverse and inspect the buried segments of thepipeline 204, as described above.

The pipeline system 300 also includes an entry opening 206 and an exitopening 210. The entry opening 206 may serve as a starting point for thewireless sensor device 10. For example, a pipeline technician places thewireless sensor device 10 at the entry opening 206. The wireless sensordevice 10 then traverses the pipeline 204 following a flow of gas 208through the pipeline 204. The wireless sensor device 10 traverses thepipeline 204 by being carried by the gas pressure and/or flow of the gas208 within the pipeline 204. The wireless sensor device 10 then exits atthe exit opening 210.

The remotely located sensors 36A-36D are coupled to an interior wall ofthe pipeline 204. For example, the remotely located sensors 36A-36D areconfigured to include an adhesive panel. The adhesive panel couples theremotely located sensors 36A-36D to the interior wall of the pipeline204. In some implementations, the remotely located sensors 36A-36D arecoupled to the interior wall at predefined locations. For example, atechnician installs each of the remotely located sensors 36A-36D at thepredefined locations.

In another implementation, the remotely located sensors 36A-36D arecoupled to the interior wall at random locations. For example, atechnician releases the remotely located sensors 36A-36D into the gasflow 208 of the pipeline 204. The remotely located sensors 36A-36D areconfigured to be carried by the gas flow. At random locations on theinterior wall, the remotely located sensors 36A-36D couple themselves tothe interior wall. In some implementations, the random locations maycorrespond to a defective location of interest of the interior wall. Forexample, the interior wall may include at least one defect. The at leastone defect disrupts the gas flow 208. The disruption in the gas flow 208directs at least one of the remotely located sensors 36A-36D.

An adhesive panel of the at least one remotely located sensor 36A-36D isthen coupled to the defect in the interior wall. In another example, thepipeline 204 includes elevated moisture levels. The elevated moisturelevels cause pooling of moisture. At least one of the remotely locatedsensors 36A-36D is attracted to the pooled moisture. It is understoodthat the pipeline 204 may include various defect and characteristicsthat each of the remotely located sensors 36A-36D may adhere to.Further, while only remotely located sensors 36A-36D are described, itis understood that the pipeline 204 may include sensors in addition tothe remotely located sensors 36A-36D. Similarly, the pipeline mayinclude fewer sensors than the remotely located sensors 36A-36D.

The remotely located sensors 36A-36D include similar characteristics tothe sensors 32A-32D, described above. For example, the remotely locatedsensor 36A may be configured as a moisture sensor. In someimplementations, the remotely located sensors 36A-36D may be configuredto sense air pressure within the pipeline 204, a temperature within thepipeline 204, a GPS location of one of the remotely located sensors36A-36D, and any other characteristics associated with the pipeline 204.

The remotely located sensors 36A-36D are arranged to generate a signalindicative of a sensed condition. For example, the sensor 36A may be amoisture sensor. The sensor 36A is configured to sense an amount ofmoisture in an area within the pipeline 204. The sensor 36A generates amoisture signal indicative of the sensed moisture. In someimplementations, the sensor 36A senses an amount of moisture present inthe gas flow 208 gas. The sensor 36A generates a moisture signalindicative of the amount of moisture present in the gas flow 208.

As the wireless sensor device 10 traverses the pipeline 204, the sensor36A communicates the moisture signal to the sensor data module 22. Inthis way, the remotely located sensors 36A-36D sense characteristics ofareas of the pipeline 204 proximal to the remotely located sensors36A-36D and communicate the sensed characteristics to the wirelesssensor device 10. It is understood that while only a moisture signal isdescribed, the remotely located sensors 36A-36D may generate signalsindicative of any sensed characteristics and communicate the generatedsignals to the sensor data module 22.

The remotely located sensors 36A-36D communicate with the sensor datamodule 22 via a wireless communication link. For example, each of thesensors 36A-36D includes a wireless communication circuit. The wirelesscommunication circuit is configured to communicate over a wirelessnetwork. For example, the wireless communication circuit may communicatevia a Bluetooth, RFID, or any other suitable near field or short rangecommunication link. In some implementations, the remotely locatedsensors 36A-36D are configured as RFID tags as described above withrespect to the sensors 32A-32D.

The sensor data module 22 is configured to wirelessly receive aplurality of sensor signals from the sensors 36A-36D. For example, thesensor data module 22 is configured as an RFID reader as describedabove. The sensor data module 22 stores the received plurality of sensorsignals in an associated memory within the sensor data module 22.

The sensor data module 22 may perform further processing on theplurality of sensor signals from the sensors 32A-32D and the remotelylocated sensors 36A-36D. For example, the sensor data module 22 receivesthe moisture signal from the sensor 32A. The sensor data module 22stores a moisture value indicated by the moisture signal in theassociated memory. The moisture value may be a unit of measurement ofmoisture sensed by the sensor 32A. In some implementations, the sensordata module 22 determines whether the moisture value is greater than apredetermined moisture threshold. The predetermined moisture thresholdmay be a threshold determined to be indicative of a defect in thepipeline or in the gas present in the pipeline 204. The sensor datamodule 22 generates a moisture level warning signal based on thedetermination of whether the moisture value is greater than thepredetermined moisture threshold.

The sensor data module 22 communicates the moisture level warning signalto the communication module 26. The communication module 26 may thenwirelessly communicate the moisture level warning signal to a remotelylocated computing device. For example, the remotely located computingdevice may be a computer system configured to receive signals from thewireless sensor device 10. The computer system is monitored by a userthat determines whether to initiate a defect response process based on areceived signal from the wireless sensor device 10. In someimplementations, the defect response process may include sending arepair team to assess the pipeline 204.

In some implementations, the sensor data module 22 communicates storedvalues to the communication module 26. For example, the sensor datamodule 22 receives a plurality of sensor signals from the sensors32A-32D and/or the remotely located sensors 36A-36D. The sensor datamodule 22 stores values indicated by the plurality of sensor signals inassociated memory. At a predetermined time, the sensor data module 22communicates the stored values to the communication module 26. Thepredetermined time may be preprogramed into the sensor data module 22.The predetermined time may range from immediately after receiving asensor signal to a period such, as 5 minutes, for example. In anotherimplementation, the sensor data module 22 communicates the stored valuesto the communication module 26 based on a request to communicate thestored values received by the sensor data module 22. For example, thesensor data module 22 may receive a request from the remotely locatedcomputing device (not shown). Further, the communication module 26 maygenerate a request to receive the stored values.

In yet another implementation, the sensor data module 22 may receive arequest to communicate the stored values after the wireless sensordevice 10 exits the pipeline 204. For example, the wireless sensordevice 10 may be coupled to a proximally located computing device 212.The proximally located computing device 212 may be a laptop, a tablet, asmartphone, or any other suitable computing devices.

The communication module 26 then communicates the stored values. In someimplementations, the communication module 26 communicates wirelesslywith the remotely located computing device. For example, thecommunication module 26 may include a Wi-Fi circuit. The communicationmodule 26 communicates via the Wi-Fi circuit to the remotely locatedcomputing device. In another implementation, the communication module 26communicates with the proximally located computing device 212.

For example, the communication module 26 may communicate wirelessly withthe proximally located computing device 212. In other implementations,the communication module 26 communicates with the proximally locatedcomputing device 212 via a universal serial bus (USB) connection,optical links, a Bluetooth connection, or a FireWire connection. It isunderstood that the principles of the present disclosure envision thecommunication module 26 utilizing any suitable means of communicatingthe stored values to the proximally located computing device 212 and theremotely located computing device.

With particular reference to FIG. 4, a pipeline characteristic sensingmethod 400 begins at 404. At 408, the method 400 receives a wirelesslytransmitted sensed condition from at least one of a plurality ofwireless sensors. At 412, the method 400 determines whether the sensedcondition is greater than a predetermined value threshold. If true, themethod 400 continues at 416. If false, the method 400 continues at 420.At 420, the method 400 stores the sensed condition in a values database.The method 400 continues at 428. At 416, the method 400 stores thesensed condition in the values database. At 424, the method 400automatically communicates the sensed condition wirelessly to a remotelylocated receiving device. At 428, the method 400 determines whether arequest to communicate values stored in the values database wasreceived. If false, the method 400 continues at 408. If true, the method400 continues at 432. At 432, the method 400 determines whether therequest to communicate the values stored in the values database wasreceived from an authorized remotely located receiving device. If false,the method 400 continues at 440. If true, the method 400 continues at436. At 436, the method 400 communicates the values stored in the valuesdatabase wirelessly to the authorized remotely located receiving device.At 440, the method 400 communicates the values stored in the valuesdatabase via a local connection to an authorized proximally locatedreceiving device. The method 400 ends at 442.

With particular reference to FIG. 5, a functional block diagram ofpipeline sensor system is shown generally at 500. The system 500includes an H2O sensor 504. It is understood that while only a signalsensor is described with reference to FIG. 5, the pipeline sensor system500 may include a plurality of sensors. The H2O sensor 504 communicatesan analog signal to an analog to digital converter and signalconditioning circuit 508. The analog signal may be indicative of thepresence of water within the pipeline sensor system 500. The analog todigital converter and signal conditioning circuit 508 converts theanalog signal according to a predetermined conversion standard. Forexample, the analog to digital converter and signal conditioning circuit508 converts the analog signal into digital RFID tag input. The analogto digital converter and signal conditioning circuit 508 communicatesthe converted analog signal to an RFID tag 512. The RFID tag 512communicates a plurality of data signals to an RFID reader 516. The RFIDreader 516 may supply electric power to the RFID tag 512. Further, theRFID reader may supply electric power to the analog to digital converterand signal conditioning circuit 508 and the H2O sensor 504. The RFIDreader 516 reads the data signals received from the RFID tag 512.

The RFID reader 516 communicates the received data signals to a microcontroller unit (MCU) 520. In some implementations, the MCU 520 isconfigured to include a Raspberry PI computer. Further, the RFID reader516 may be configured to communicate with the MCU 520 via a serial touniversal serial bus (USB) communication link. The MCU 520 receives atimestamp from a time delay of arrival (TDOA) client 524. The TDOAclient 524 may communicate via a similar serial to USB communicationlink as the RFID reader 516.

The MCU 520 generates an output signal based on matching the datasignals corresponding to an analog signal generated by the H2O sensor504 with a corresponding timestamp received from the TDOA client 514.The MCU 520 communicates the output signal to a user interface 528. Theuser interface 528 is configured to display data correlating to theoutput signal in a human readable format.

The foregoing description is merely illustrative in nature and is in noway intended to limit the disclosure, its application, or uses. Thebroad teachings of the disclosure can be implemented in a variety offorms. Therefore, while this disclosure includes particular examples,the true scope of the disclosure should not be so limited since othermodifications will become apparent upon a study of the drawings, thespecification, and the following claims. For purposes of clarity, thesame reference numbers will be used in the drawings to identify similarelements. As used herein, the phrase at least one of A, B, and C shouldbe construed to mean a logical (A or B or C), using a non-exclusivelogical OR. It should be understood that one or more steps within amethod may be executed in different order (or concurrently) withoutaltering the principles of the present disclosure.

As used herein, the term module may refer to, be part of, or include anApplication Specific Integrated Circuit (ASIC); an electronic circuit; acombinational logic circuit; a field programmable gate array (FPGA); aprocessor (shared, dedicated, or group) that executes code; othersuitable hardware components that provide the described functionality;or a combination of some or all of the above, such as in asystem-on-chip. The term module may include memory (shared, dedicated,or group) that stores code executed by the processor.

The term code, as used above, may include software, firmware, and/ormicrocode, and may refer to programs, routines, functions, classes,and/or objects. The term shared, as used above, means that some or allcode from multiple modules may be executed using a single (shared)processor. In addition, some or all code from multiple modules may bestored by a single (shared) memory. The term group, as used above, meansthat some or all code from a single module may be executed using a groupof processors. In addition, some or all code from a single module may bestored using a group of memories.

The apparatuses and methods described herein may be implemented by oneor more computer programs executed by one or more processors. Thecomputer programs include processor-executable instructions that arestored on a non-transitory tangible computer readable medium. Thecomputer programs may also include stored data. Non-limiting examples ofthe non-transitory tangible computer readable medium are nonvolatilememory, magnetic storage, and optical storage.

What is claimed is:
 1. A sensor system for sensing conditions of apipeline comprising: a plurality of sensors that: sense at least onecondition of the pipeline; generate at least one signal indicative of avalue corresponding to the at least one condition; and wirelesslycommunicates the at least one signal; and a pipeline device configuredto navigate the pipeline that: receives the at least one signal; storesthe value corresponding to the at least one condition in an associatedmemory; and selectively communicates the stored values in response toreceiving a request to communicate the stored values.
 2. The sensorsystem of claim 1 wherein the pipeline device includes a sensor datamodule that generates a values database and a communication module thatreceives values stored in the values database and that selectivelycommunicates the values.
 3. The sensor system of claim 2 wherein thesensor data module determines whether the value corresponding to the atleast one condition is greater than a predetermined threshold value. 4.The sensor system of claim 3 wherein the sensor data module communicatesthe value to the communication module when the value is greater than thepredetermined threshold value.
 5. The sensor system of claim 4 whereinthe communication module communicates the value to a remotely locatedcomputing device.
 6. The sensor system of claim 1 wherein the pipelinedevice includes a spherical case.
 7. The sensor system of claim 1wherein the pipeline device enters the pipeline at an entry point andexits the pipeline at an exit point.
 8. The sensor system of claim 7wherein the pipeline device is configured to automatically traverse thepipeline between the entry point and the exit point.
 9. The sensorsystem of claim 1 wherein at least one sensor of the plurality ofsensors is disposed on a surface of the spherical case.
 10. The sensorsystem of claim 1 wherein at least one sensor of the plurality ofsensors is disposed on a surface of the pipeline.
 11. A method forsensing conditions of a pipeline comprising: sensing at least onecondition of the pipeline; generating at least one signal indicative ofa value corresponding to the at least one condition; wirelesslycommunicating the at least one signal; navigating the pipeline;receiving the at least one signal; storing the value corresponding tothe at least one condition; and selectively communicating the storedvalues in response to receiving a request to communicate the storedvalues.
 12. The method of claim 11 further comprising generating avalues database and selectively communicating the values from the valuesdatabase.
 13. The method of claim 12 further comprising determiningwhether the value corresponding to the at least one condition is greaterthan a predetermined threshold value.
 14. The method of claim 13 furthercomprising communicating the value when the value is greater than thepredetermined threshold value.
 15. The method of claim 14 furthercomprising wirelessly communicating the value to a remotely locatedcomputing device.
 16. The method of claim 11 further comprisingcommunicating the value to a proximally located computing device via awired connection.
 17. The method of claim 11 further comprising enteringthe pipeline at an entry point and exiting the pipeline at an exitpoint.
 18. The method of claim 17 further comprising automaticallytraversing the pipeline between the entry point and the exit point. 19.The method of claim 11 further comprising disposing a plurality ofsensors for sensing the at least one condition of the pipeline on asurface of a spherical case that encloses a pipeline device.
 20. Themethod of claim 11 further comprising disposing a plurality of sensorsfor sensing the at least one condition of the pipeline on a surface ofthe pipeline.